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   <div id="projectname">Os1
   &#160;<span id="projectnumber">1</span>
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   <div id="projectbrief">OrbSlam2 documentado y modificado</div>
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<a href="#namespaces">Namespaces</a> &#124;
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<div class="title">ORBextractor.cc File Reference</div>  </div>
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<div class="textblock"><code>#include &lt;opencv2/core/core.hpp&gt;</code><br />
<code>#include &lt;opencv2/highgui/highgui.hpp&gt;</code><br />
<code>#include &lt;opencv2/features2d/features2d.hpp&gt;</code><br />
<code>#include &lt;opencv2/imgproc/imgproc.hpp&gt;</code><br />
<code>#include &lt;vector&gt;</code><br />
<code>#include &quot;<a class="el" href="_o_r_bextractor_8h_source.html">ORBextractor.h</a>&quot;</code><br />
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Include dependency graph for ORBextractor.cc:</div>
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Namespaces</h2></td></tr>
<tr class="memitem:namespace_o_r_b___s_l_a_m2"><td class="memItemLeft" align="right" valign="top"> &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespace_o_r_b___s_l_a_m2.html">ORB_SLAM2</a></td></tr>
<tr class="memdesc:namespace_o_r_b___s_l_a_m2"><td class="mdescLeft">&#160;</td><td class="mdescRight">This file is part of ORB-SLAM2. <br /></td></tr>
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Macros</h2></td></tr>
<tr class="memitem:a35931865021519a9d7a2a4d2f196e684"><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="_o_r_bextractor_8cc.html#a35931865021519a9d7a2a4d2f196e684">GET_VALUE</a>(idx)</td></tr>
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Functions</h2></td></tr>
<tr class="memitem:ad90997cdb916a99c644c0959e08cf4df"><td class="memItemLeft" align="right" valign="top">static void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespace_o_r_b___s_l_a_m2.html#ad90997cdb916a99c644c0959e08cf4df">ORB_SLAM2::computeDescriptors</a> (const Mat &amp;image, vector&lt; KeyPoint &gt; &amp;keypoints, Mat &amp;descriptors, const vector&lt; Point &gt; &amp;pattern)</td></tr>
<tr class="separator:ad90997cdb916a99c644c0959e08cf4df"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a932693f631bfe871700d02c72e14c6cd"><td class="memItemLeft" align="right" valign="top">static void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespace_o_r_b___s_l_a_m2.html#a932693f631bfe871700d02c72e14c6cd">ORB_SLAM2::computeOrbDescriptor</a> (const KeyPoint &amp;kpt, const Mat &amp;img, const Point *pattern, uchar *desc)</td></tr>
<tr class="memdesc:a932693f631bfe871700d02c72e14c6cd"><td class="mdescLeft">&#160;</td><td class="mdescRight">Extrae el descriptor ORB del punto singular.  <a href="namespace_o_r_b___s_l_a_m2.html#a932693f631bfe871700d02c72e14c6cd">More...</a><br /></td></tr>
<tr class="separator:a932693f631bfe871700d02c72e14c6cd"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a40adb6b621d7c2dd9d2961ba88e445c8"><td class="memItemLeft" align="right" valign="top">static void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespace_o_r_b___s_l_a_m2.html#a40adb6b621d7c2dd9d2961ba88e445c8">ORB_SLAM2::computeOrientation</a> (const Mat &amp;image, vector&lt; KeyPoint &gt; &amp;keypoints, const vector&lt; int &gt; &amp;umax)</td></tr>
<tr class="separator:a40adb6b621d7c2dd9d2961ba88e445c8"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac570dbdaae2d483745515b5022fd6820"><td class="memItemLeft" align="right" valign="top">static float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespace_o_r_b___s_l_a_m2.html#ac570dbdaae2d483745515b5022fd6820">ORB_SLAM2::IC_Angle</a> (const Mat &amp;image, Point2f pt, const vector&lt; int &gt; &amp;u_max)</td></tr>
<tr class="memdesc:ac570dbdaae2d483745515b5022fd6820"><td class="mdescLeft">&#160;</td><td class="mdescRight">Calcula la orientación de un punto singular.  <a href="namespace_o_r_b___s_l_a_m2.html#ac570dbdaae2d483745515b5022fd6820">More...</a><br /></td></tr>
<tr class="separator:ac570dbdaae2d483745515b5022fd6820"><td class="memSeparator" colspan="2">&#160;</td></tr>
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Variables</h2></td></tr>
<tr class="memitem:a8dd21ee063eca2b0bc3f5e76ceba0492"><td class="memItemLeft" align="right" valign="top">static int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespace_o_r_b___s_l_a_m2.html#a8dd21ee063eca2b0bc3f5e76ceba0492">ORB_SLAM2::bit_pattern_31_</a> [256 *4]</td></tr>
<tr class="memdesc:a8dd21ee063eca2b0bc3f5e76ceba0492"><td class="mdescLeft">&#160;</td><td class="mdescRight">Coordenadas BRIEF.  <a href="namespace_o_r_b___s_l_a_m2.html#a8dd21ee063eca2b0bc3f5e76ceba0492">More...</a><br /></td></tr>
<tr class="separator:a8dd21ee063eca2b0bc3f5e76ceba0492"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aec00f1ad4dea35755e3af4404282cd3b"><td class="memItemLeft" align="right" valign="top">const int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespace_o_r_b___s_l_a_m2.html#aec00f1ad4dea35755e3af4404282cd3b">ORB_SLAM2::EDGE_THRESHOLD</a> = 19</td></tr>
<tr class="memdesc:aec00f1ad4dea35755e3af4404282cd3b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Umbral de los bordes, en píxeles.  <a href="namespace_o_r_b___s_l_a_m2.html#aec00f1ad4dea35755e3af4404282cd3b">More...</a><br /></td></tr>
<tr class="separator:aec00f1ad4dea35755e3af4404282cd3b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8015b470ffeb885a0c90837a03b3210f"><td class="memItemLeft" align="right" valign="top">const float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespace_o_r_b___s_l_a_m2.html#a8015b470ffeb885a0c90837a03b3210f">ORB_SLAM2::factorPI</a> = (float)(CV_PI/180.f)</td></tr>
<tr class="memdesc:a8015b470ffeb885a0c90837a03b3210f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Factor conversor de grados a radianes.  <a href="namespace_o_r_b___s_l_a_m2.html#a8015b470ffeb885a0c90837a03b3210f">More...</a><br /></td></tr>
<tr class="separator:a8015b470ffeb885a0c90837a03b3210f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa09849ae679bf2392b097abd710d8d7f"><td class="memItemLeft" align="right" valign="top">const int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespace_o_r_b___s_l_a_m2.html#aa09849ae679bf2392b097abd710d8d7f">ORB_SLAM2::HALF_PATCH_SIZE</a> = 15</td></tr>
<tr class="memdesc:aa09849ae679bf2392b097abd710d8d7f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Medio parche en píxeles.  <a href="namespace_o_r_b___s_l_a_m2.html#aa09849ae679bf2392b097abd710d8d7f">More...</a><br /></td></tr>
<tr class="separator:aa09849ae679bf2392b097abd710d8d7f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a557e5c298c5f7164667f083494c2197a"><td class="memItemLeft" align="right" valign="top">const int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespace_o_r_b___s_l_a_m2.html#a557e5c298c5f7164667f083494c2197a">ORB_SLAM2::PATCH_SIZE</a> = 31</td></tr>
<tr class="memdesc:a557e5c298c5f7164667f083494c2197a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Tamaño del lado del parche cuadrado, en píxeles.  <a href="namespace_o_r_b___s_l_a_m2.html#a557e5c298c5f7164667f083494c2197a">More...</a><br /></td></tr>
<tr class="separator:a557e5c298c5f7164667f083494c2197a"><td class="memSeparator" colspan="2">&#160;</td></tr>
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<h2 class="groupheader">Macro Definition Documentation</h2>
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          <td class="memname">#define GET_VALUE</td>
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          <td class="paramtype">&#160;</td>
          <td class="paramname">idx</td><td>)</td>
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<b>Value:</b><div class="fragment"><div class="line">center[cvRound(pattern[idx].x*b + pattern[idx].y*a)*step + \</div><div class="line">               cvRound(pattern[idx].x*a - pattern[idx].y*b)]</div></div><!-- fragment -->
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